CN108700653A - A kind of scan control method of laser radar, device and equipment - Google Patents
A kind of scan control method of laser radar, device and equipment Download PDFInfo
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- CN108700653A CN108700653A CN201780004603.0A CN201780004603A CN108700653A CN 108700653 A CN108700653 A CN 108700653A CN 201780004603 A CN201780004603 A CN 201780004603A CN 108700653 A CN108700653 A CN 108700653A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of scan control method, device and the equipment of laser radar (802), scan control method include:Determine that scanning strategy, at least one scan position that scanning strategy instruction has laser radar (802) to be scanned and the scanning weight (101) to each scan position, the field angle of laser radar (802) are less than 180 degree;Control laser radar (802) is scanned (102) with the scanning weight of each scan position to scan position, is capable of the detection efficient of improving laser radar (802).
Description
Technical field
The present invention relates to a kind of field of communication technology more particularly to scan control method of laser radar, device and equipment.
Background technology
With the continuous development of Radar Technology, it is used widely in field of detecting.The information carrier of radar is
Radio wave can be found target object by radio wave and measure their space bit when being detected by radar
Confidence ceases, for example, can scan to obtain distance, range rate or radial velocity in relation to the target object to radar, orientation,
Height etc..
Currently, traditional radar system is usually fixed loading, for example laser radar system, the laser radar are to institute
There is scene to carry out uniform scanning, to realize detection.It is needed however, most of regions of the laser radar scanning are often all not present
The target object to be detected, this allows for wasting the laser beam largely scanned, and causes detection efficient relatively low.
Invention content
An embodiment of the present invention provides a kind of scan control method of laser radar, device and equipment, being capable of improving laser
The detection efficient of radar.
First aspect of the embodiment of the present invention discloses a kind of scan control method of laser radar, including:
Determine scanning strategy, at least one scan position that the scanning strategy instruction has laser radar to be scanned and right
The field angle of the scanning weight of each scan position, the laser radar is less than 180 degree;
The laser radar is controlled to be scanned the scan position with the scanning weight of each scan position.
Optionally, the laser radar is loaded on the mobile apparatus by direction control device;The control laser
Radar is scanned the scan position with the scanning weight of each scan position, specifically includes:Pass through the orientation
Control device is controlled the laser radar and is scanned to the scan position with the scanning weight of each scan position.
Second aspect of the embodiment of the present invention discloses a kind of scan controller, including:
Determining module, for determining scanning strategy, the scanning strategy instruction has to be scanned at least one of laser radar
The field angle of scan position and scanning weight to each scan position, the laser radar is less than 180 degree;
Control module, for controlling the laser radar with the scanning weight of each scan position to the scanning side
Position is scanned.
The third aspect of the embodiment of the present invention discloses a kind of scanning controller, including:Processor and laser radar;Its
In,
The laser radar is scanned for emitting laser beam;
The processor, for determining that scanning strategy, the scanning strategy instruction have to be scanned at least one of laser radar
The field angle of a scan position and scanning weight to each scan position, the laser radar is less than 180 degree;Control institute
Laser radar is stated to be scanned the scan position with the scanning weight of each scan position.
Can include laser radar at least one scan position to be scanned and to every by determination in the embodiment of the present invention
The scanning strategy of the scanning weight of one scan position, and laser radar is controlled with each scan position in the scanning strategy
Scanning weight is scanned the scan position so that the detection efficient for improving laser radar, the laser for avoiding scanning are penetrated
The waste of line.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow diagram of the scan control method of laser radar provided in an embodiment of the present invention;
Fig. 2 a are the loading front views of a kind of laser radar and holder provided in an embodiment of the present invention;
Fig. 2 b are the loading vertical views of a kind of laser radar and holder provided in an embodiment of the present invention;
Fig. 2 c are the loading left views of a kind of laser radar and holder provided in an embodiment of the present invention;
Fig. 3 a are the loading front views of laser radar and holder after a kind of holder rotation provided in an embodiment of the present invention;
Fig. 3 b are the loading vertical views of laser radar and holder after a kind of holder rotation provided in an embodiment of the present invention;
Fig. 3 c are the loading left views of laser radar and holder after a kind of holder rotation provided in an embodiment of the present invention;
Fig. 4 a are the scanning schematic diagrames of laser radar after a kind of holder rotation provided in an embodiment of the present invention;
Fig. 4 b are the scanning schematic diagrames of laser radar after another holder rotation provided in an embodiment of the present invention;
Fig. 4 c are the scanning schematic diagrames of laser radar after another holder rotation provided in an embodiment of the present invention;
Fig. 5 a are a kind of schematic diagram of a scenario of determining scanning strategy provided in an embodiment of the present invention;
Fig. 5 b are another schematic diagram of a scenario for determining scanning strategy provided in an embodiment of the present invention;
Fig. 5 c are the schematic diagram of a scenario of another determination scanning strategy provided in an embodiment of the present invention;
Fig. 6 a are a kind of deployment schematic diagrames of laser radar provided in an embodiment of the present invention;
Fig. 6 b are the deployment schematic diagrames of another laser radar provided in an embodiment of the present invention;
Fig. 7 is a kind of structural schematic diagram of scan controller provided in an embodiment of the present invention;
Fig. 8 is a kind of structural schematic diagram of scanning controller provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of scan control method of laser radar, device and equipment, can rise laser thunder
The detection efficient reached avoids the waste of the laser beam of scanning.It is described in detail individually below.
Referring to Fig. 1, being a kind of flow diagram of the scan control method of laser radar provided in an embodiment of the present invention.
The scan control of laser radar described in the present embodiment may comprise steps of:
101, determine scanning strategy, the scanning strategy instruction have laser radar to be scanned at least one scan position and
To the scanning weight of each scan position.
In the specific implementation, the described method of the present embodiment can be executed by scan controller, scan control dress
It sets and may be disposed at scanning controller for example various mobile devices, including vehicle, unmanned plane etc., the present embodiment does not limit.
Wherein, which can refer to adaptive laser radar, which can refer to scan position
The technical solution of adjustable laser radar, the application can be realized by adaptive laser radar.Further, the laser thunder
Up to can be that line sweeps formula laser radar or other kinds of laser radar, and field angle (the Field of of the laser radar
View, FOV) it is configurable to be less than 180 degree, for example, 170 degree, 150 degree, 120 degree, 90 degree, 60 degree or other numerical value.
That is laser radar is often towards a scan position, which can be scanned according to the field angle of the configuration.
In some feasible embodiments, which can be believed by obtaining the mobile status of mobile device
Breath, object such as barrier distributed intelligence etc., obtain region of interest weight distribution under current scene, that is, determine it is to be scanned at least
One scan position and scanning weight to each scan position, to determine the scanning strategy of laser radar.Wherein, this is emerging
Interesting area can refer to scanning area of the laser radar on a scan position, the i.e. corresponding scanning area of the field angle.
102, the laser radar is controlled to be scanned the scan position with the scanning weight of each scan position.
In some feasible embodiments, which can be loaded into mobile device by direction control device
On.When controlling the scan position of laser radar, the scan position of laser radar is adjusted especially by direction control device, is made
The laser radar is obtained to be scanned the scan position with the scanning weight of each scan position.
Further, which sweeps the scan position with the scanning weight of each scan position
It retouches, can be specially:The sweep time of the scan position is determined according to the scanning weight of each scan position;Pass through orientation control
Device processed is controlled the laser radar and is scanned to the scan position with the sweep time.Optionally, in some scan position
Scanning weight it is heavier, then the scan position corresponding sweep time could be provided as more growing.
In some feasible embodiments, which sweeps this with the scanning weight of each scan position
It retouches orientation to be scanned, can be specially:It is determined according to the scanning weight of each scan position for scanning the scan position
Laser radar quantity, wherein each laser radar is loaded into a direction control device;Pass through direction control device
The laser radar of the quantity is called to be scanned the scan position.Optionally, it is got in the scanning weight of some scan position
Weight, then the quantity of the corresponding laser radar of the scan position can be more.It is further alternative, the corresponding each laser thunder of the quantity
The corresponding scanning area of scan position reached can be misaligned or partially overlaps.
In some feasible embodiments, the scanning side can also be determined according to the scanning weight of each scan position
The quantity of the sweep time and laser radar of position, when so as to control the laser radar by direction control device with the scanning
Between and quantity the scan position is scanned, do not repeat herein.
Optionally, which can be holder, i.e. the laser radar can be loaded in holder such as electric platform
On, so as to automatically control the steering of holder by motor, to realize that the change to laser radar scanning direction, cooperation determine
The scanning strategy gone out is realized and is scanned to the emphasis of the high heavier scan position of region of interest, that is, weight so that realizes and swept to limited
Retouch the reasonable distribution of resource.Further alternative, the direction control device such as holder can be loaded into mobile device.
It is the loading schematic diagram of laser radar and holder for example, as shown in Fig. 2 a to 2c, wherein Fig. 2 a are laser radar
With the loading front view of holder, Fig. 2 b are the loading vertical view of laser radar and holder, and Fig. 2 c are the dress of laser radar and holder
Carry left view.Wherein, which has the rotary freedom of both direction, i.e. Θ=(θ, γ), to be raised in two degree of freedom
The scan position of whole laser radar, as shown in rotation arrows in figure.The Fan Weiwei [ of wherein θ;0,180°];The Fan Weiwei [ of γ;0,
360°].By controlling the rotation of holder, then the change of the scan position of laser radar scanning can be controlled, to avoid at certain
Flying spot is wasted in one simple scenario.Further, as shown in Fig. 3 a to 3c, laser radar and cloud respectively after holder rotation
Loading front view, vertical view and the left view of platform.
Current laser radar is fixed laser radar, which is the fixed laser radar loaded,
Its scan position is fixed.The laser radar that the fixation loads can be seen as adaptive laser radar when holder locks
A kind of special circumstances, therefore, be suitable for the fixed outer ginseng scaling scheme for loading laser radar can also be applied to it is adaptive stress
The outer ginseng of optical radar is demarcated.In addition, using the controllable feature in adaptive laser radar scanning orientation, it can also be by controlling holder
Rotation generates more parts of nominal datas, to promote the precision of calibration.As shown in Figs. 4a-c, it is adaptive laser radar L1It arrives
Adaptive laser radar L0Scanning schematic diagram.With adaptive laser radar L1To adaptive laser radar L0Between be demarcated as
Example, can control L1Holder rotate different angles, generating more parts of data (or can also control L0Rotation, or control two
A adaption radar rotates simultaneously).To the outer ginseng matrix M between two adaptive laser radars1to0It can be by under solution
Row optimization problem obtains:
Wherein, P0For adaptive laser radar L0The point cloud scanned;P1 iFor adaptive laser radar L1In holder rotation angle
Degree is αiWhen the point cloud that scans;R is rotation projection variation, will put cloud P1 iProject to L1Coordinate system under.Point cloud similarity
Energy equation D (P, Q) describes the similarity between two clouds, and different modes may be used and be described, such as:
Wherein, point q (q ∈ Q) is the nearest points of range points p in a cloud Q (p ∈ P ∩ Q), and P ∩ Q can indicate two clouds
The part of overlapping.
After calibration is completed, you can object is respectively in L0Coordinate system and L1Point cloud position under coordinate system, and then analyze
To object information such as distribution of obstacles information, scanning of multiple laser radars to same scan position or adjacent orientation is realized,
Especially improves and sweep when the scanning area (region of interest) on scan position has overlapping (coincidence) in multiple laser radar
Retouch the accuracy and reliability of result.
In some feasible embodiments, which can be loaded into mobile device, the determination scanning strategy,
Can be specially:Determine the bearing range to be scanned of laser radar, which includes at least one scan position;
The mobile status information of mobile device is obtained, which includes the moving direction or direction change letter of the mobile device
Breath;The scanning weight of each scan position is determined according to the mobile status information.For example, when the mobile device is vehicle, it should
Mobile status information may include the status informations such as accelerating, slow down, turn to, that is to say, that the scanning strategy can work as according to vehicle
Preceding transport condition or the transport condition in future is determined.
For example, due to the scan mode of current laser radar be all to scene carry out uniform scanning, but due to
The variation of vehicle running state so that upper layer application is to the distribution of entire space interest-degree and uneven.For example vehicle accelerates row
When sailing, the scene information in front of more concerned with vehicle;When vehicle switches into runway, the case where more concerned with vehicle sides,
At this time if still using uniform scanning strategy, a large amount of flying spot can be wasted in low region of interest.Therefore, when vehicle to move ahead
When sailing, the scene of right ahead is more important to whole system, therefore region of interest is concentrated mainly on the travel direction of vehicle, i.e.,
Front, then the scanning weight of the corresponding each scan position of the scanning strategy can be as shown in Figure 5 a, i.e. sweeping in travel direction
The scanning weight for retouching orientation is heavier.When vehicle change of plan track, when such as change of plan to right-hand lane, in order in advance
Possible barrier is predicted, the scanning weight on the scan position of the side of vehicle plan lane change can be set as heavier (more
Greatly), the scanning weight of the corresponding each scan position of the scanning strategy can be as shown in Figure 5 b.Optionally, should and mobile status
The corresponding scanning weight of information can pass through probability P (θ |It Λ) indicates, i.e., when following transport condition is Λ, with vehicle row
The region that the state of sailing is consistent can obtain higher weight.Wherein it is possible to indicate vehicle running state to scene with the shade depth
The influence of region of interest, shade is deeper can to indicate that weight is bigger on the scan position of the region of interest.
In some feasible embodiments, which can be specially:Determine the to be scanned of laser radar
Bearing range, the bearing range to be scanned include at least one scan position;It is at least one to this according to preset scanning density
Scan position is scanned, to acquire the object distributed intelligence of at least one scan position;According to the object point
Cloth information determines the scanning weight of each scan position.Optionally, it can be scanned by adaptive laser radar, the mesh
The scanning weight for marking the scan position that object is distributed more (or object distribution density is bigger) is bigger.In the specific implementation, in addition to vehicle
Transport condition, in scene the distribution of object such as barrier can also influence the distribution of region of interest weight.In order to realize to obstacle
Object accurately tracks, and needs to ensure the laser beam number that each barrier obtains enough laser radar scannings, therefore, can incite somebody to action
The scanning weight of region of interest on the more complicated scan position of scene is set as higher, and believes in combination with the mobile status of vehicle
Breath such as travel direction determines the scanning weight, as shown in Figure 5 c.It optionally, should scanning weight corresponding with object distributed intelligence
Probability P (θ | can be passed through;It Γ) indicates, i.e. highest priority is distributed more regions and acquires higher scanning weight.It can
Choosing, which is distributed Γ can scan the point cloud density acquisition of object by calculating.It is further alternative, low spot cloud
The object of density is distributed can be by carrying out complementary scan, with the accuracy of the object distributed intelligence of promotion acquisition and reliably
Property.
In some feasible embodiments, which can be specially:Using fixed laser radar,
At least one scan position to be scanned is scanned according to preset scanning density, obtains scanning result, and/or, it utilizes
Aided-detection device is detected at least one scan position, obtains testing result;According to the scanning result and/or the inspection
It surveys result and determines the object distributed intelligence at least one scan position;Each is determined according to the object distributed intelligence
The scanning weight of scan position.Optionally, which may include in camera, millimetre-wave radar and ultrasonic sensor
It is one or more.Further alternative, the scanning weight which is distributed more scan positions is bigger.Specific implementation
In, multiple fixed laser radars that fixed laser radar is such as disposed can be directly utilized, to each scanning to be scanned
Orientation is scanned, and then obtains the object such as distribution of obstacles that each scan position corresponds to region of interest.Optionally, this is fixed
Formula laser radar could be provided as corresponding with scan position to be scanned.Alternatively, fixed laser radar can be utilized simultaneously
It analyzes to obtain the object distributed intelligence in conjunction with aided-detection device, for example, can be first with fixed laser radar to be scanned
Scan position be scanned, obtain scanning result, and can be to the scanning to be scanned in combination with aided-detection device such as camera
The shooting image in orientation, and or the further scanning result for combining millimetre-wave radar, and or the inspection for combining ultrasonic sensor
It surveys as a result, analysis obtains the object distribution on each scan position, and then can be distributed according to the object and determine adaptive laser
Radar is in the scanning weight of each scan position, the accuracy and reliability that the object to promote acquisition is distributed.Optionally,
The FOV of the fixed laser radar is configurable to any angle, for example, 60 degree, 90 degree, 120 degree, 180 degree, 270 degree, 360
Degree or other numerical value.
Optionally, when laser radar (including the fixed laser radar or adaptive for scanning at least one scan position
Laser radar) when being multiple, that is, when being deployed with multiple laser radars and being scanned, the scanning density of multiple laser radar can be with
It is set as identical, the measuring condition to ensure the object distributed intelligence determined on each scan position is consistent, each to be promoted
The reliability for the object distributed intelligence determined on scan position.It is further alternative, the scan position pair of each laser radar
The scanning area answered can be misaligned or partially overlaps.It is further alternative, the FOV of the identical each laser radar of scanning density
It may be the same or different.
Further alternative, which may also include the scan position constrained parameters of the laser radar, this at least one
A scan position is in the bearing range of scan position constrained parameters instruction.For example, when only there are one certainly for deployment in system
When adapting to laser radar, scan position constrained parameters can indicate ranging from 360 ° of its scan position, i.e., the laser radar can
With [0,360°]It is scanned on multiple scan positions in range.For another example, when being deployed with multiple adaptive laser in system
It, can be multiple by the way that the restriction of scan position constrained parameters is arranged respectively to avoid all of which from being directed toward the same orientation when radar
Laser radar is scanned in different scan positions, to reduce the waste of flying spot.Such as be deployed in system 3 it is adaptive
Stress optical radar when, each adaptive corresponding scan position constrained parameters of laser radar can indicate its scan position ranging from
120 °, and can indicate respectively this 3 adaptive laser radars [ respectively;0,120°], [120,240°], [240,360°]Range
It is scanned on interior multiple scan positions.
In some feasible embodiments, it may also be combined with the mobile status information, the object distributed intelligence and be somebody's turn to do
Scan position constrained parameters determine scanning strategy:
Wherein, P indicates probability.P(θ|It can Λ) indicate the corresponding scanning weight of mobile status information;P(θ|It Γ) can be with
Indicate the corresponding scanning weight of object distributed intelligence;P (θ) is direction priori, can be according to above-mentioned scan position constrained parameters
It determines.In the specific implementation, when only existing an adaptive laser radar in system, it can be as the sharp radar of existing tradition
Supplement, its scan position is not limited, i.e. P (θ) can be a normal function.When in system there are it is more than one from
When adapting to laser radar, in order to be that each laser radar is arranged different direction priori P (θ) and limits its scan position
Range.Wherein, the mobile status information and object distributed intelligence can refer to foregoing description, not repeat herein.
For example, adaptive laser radar can be used cooperatively with fixed laser radar, or adaptive laser thunder
Up to can be directly directed in each scan position according to scanning strategy instead of traditional fixed laser radar to realize
Property scanning.For example, adaptive laser radar can be used cooperatively with fixed laser radar:Assuming that being swept with the FOV lines for being 60 degree
For formula fixed laser radar, then need to call 6 laser radars that can complete 360 degree of scanning, if matter need to will be scanned
It measures double, then needs using the even more laser radar of 12 laser radars, cost at least 100%.It can lead to as a result,
It crosses and disposes adaptive laser radar so that reduce scanning quality while ensuring scanning quality.Such as in the use of automatic Pilot
In scene, an adaptive laser radar can be additionally assembled, as shown in Figure 6 a except 6 fixed interest area laser radars.
To the adaptive laser radar can according to the mobile status information such as travel direction of vehicle and/or object distributed intelligence from
Move the region of adjustment (specifically can control its adjustment by the rotation of holder) scanning or the region of emphasis scanning, enabling for certainly
The dynamic obstacle-avoiding route planning driven provides more valuable information, such as when the sensory perceptual system of automatic Pilot needs repetition true
When recognizing the details of a direction, the scan position of adaptive laser radar can be adjusted extremely by controlling the rotation of electric platform
The region for needing multiple scanning, so as to increase the robustness of overall recognition system.In addition, adaptive laser radar can be with
As the redundancy backup of fixed interest area laser radar, when some or multiple fixed laser radars can not work normally,
Whole scanning probe is not influenced.
For another example, which can directly use instead of traditional fixed laser radar:In holder control
In the case that precision processed is enough, adaptive laser radar can substitute the load mode of fixed interest area laser radar completely, such as
Shown in Fig. 6 b.To all adaptive laser radars scanning range can be by vehicle travel direction and surrounding field
Object in scape is distributed and adjust automatically, this just improves the flexibility of radar scanning and reliability.
In the present embodiment, it is possible to include laser radar at least one scan position to be scanned and to every by determination
The scanning strategy of the scanning weight of one scan position, and laser radar is controlled with each scan position in the scanning strategy
Scanning weight is scanned the scan position so that the detection efficient for improving laser radar, the laser for avoiding scanning are penetrated
The waste of line.
Referring to Fig. 7, being a kind of structural schematic diagram of scan controller provided in an embodiment of the present invention.In the present embodiment
Described scan controller may include determining module 701 and control module 702;Wherein,
Determining module 701, for determining that scanning strategy, the scanning strategy instruction have to be scanned at least one of laser radar
The field angle of a scan position and scanning weight to each scan position, the laser radar is less than 180 degree;
Control module 702 sweeps this with the scanning weight of each scan position for controlling the laser radar
Orientation is retouched to be scanned.
In some feasible embodiments, the laser radar is loaded by direction control device in mobile device;
The control module 702 is specifically used for:
The sweep time of the scan position is determined according to the scanning weight of each scan position;
The laser radar is controlled by the direction control device to sweep the scan position with the sweep time
It retouches.
In some feasible embodiments, the laser radar is loaded by direction control device in mobile device;
The control module 702 is specifically used for:
The number of the laser radar for scanning the scan position is determined according to the scanning weight of each scan position
Amount, wherein each laser radar can be loaded into a direction control device;
The laser radar of the quantity is called to be scanned the scan position by the direction control device.
In some feasible embodiments, the direction control device can be holder, such as electric platform.
In some feasible embodiments, the corresponding scanning area of scan position of each laser radar of the quantity can
With misaligned or partially overlap.
In some feasible embodiments, the laser radar can be loaded into mobile device, the determining module
701 are specifically used for:
Determine that the bearing range to be scanned of laser radar, the bearing range to be scanned include at least one scan position;
The mobile status information of mobile device is obtained, the mobile status information includes the moving direction of the mobile device
Or direction change information;
The scanning weight of each scan position is determined according to the mobile status information.
In some feasible embodiments, the mobile device can be vehicle or unmanned plane.
In some feasible embodiments, the determining module 701 is specifically used for:
Determine that the bearing range to be scanned of laser radar, the bearing range to be scanned include at least one scan position;
At least one scan position is scanned according to preset scanning density, to acquire described at least one
The object distributed intelligence of a scan position;
The scanning weight of each scan position is determined according to the object distributed intelligence, wherein the object point
The scanning weight of the more scan position of cloth is bigger.
In some feasible embodiments, the determining module 701 can be specifically used for:
Using fixed laser radar, at least one scan position to be scanned is swept according to preset scanning density
It retouches, obtains scanning result;And/or at least one scan position is detected using aided-detection device, it is detected
As a result;
The object at least one scan position point is determined according to the scanning result and/or the testing result
Cloth information;The scanning weight of each scan position is determined according to the object distributed intelligence,
Wherein, the object be distributed more scan positions scanning weight it is bigger, the aided-detection device can be with
Including one or more in camera, millimetre-wave radar and ultrasonic sensor.
In some feasible embodiments, when the laser radar for scanning at least one scan position is multiple,
The scanning density of the multiple laser radar can be identical.
In some feasible embodiments, the scanning strategy may also include the scan position constraint of the laser radar
Parameter, at least one scan position are in the bearing range of scan position constrained parameters instruction.
It is understood that the function of each function module of the scan controller of the embodiment of the present invention can be according to above-mentioned side
Method specific implementation in method embodiment, specific implementation process are referred to the associated description of above method embodiment, herein
It repeats no more.
In the present embodiment, it is possible to include laser radar at least one scan position to be scanned and to every by determination
The scanning strategy of the scanning weight of one scan position, and laser radar is controlled with each scan position in the scanning strategy
Scanning weight is scanned the scan position so that the detection efficient for improving laser radar, the laser for avoiding scanning are penetrated
The waste of line.
Referring to Fig. 8, being a kind of structural schematic diagram of scanning controller provided in an embodiment of the present invention.In the present embodiment
Described scanning controller, including:Processor 801, laser radar 802 and memory 803.Further alternative, this is swept
It retouches control device and may also include user interface 804 and/or direction control device 805.Above-mentioned processor 801, laser radar 802,
Memory 803, user interface 804 and/or direction control device 805 can be connected by bus, can also be counted by other means
According to connection.It is illustrated with bus connection in the present embodiment.
The processor 801 can be central processing unit (central processing unit, CPU) or other classes
The processing of type.The processor 801 can further include hardware chip.Above-mentioned hardware chip can be application-specific integrated circuit
(Application-Specific Integrated Circuit, ASIC), programmable logic device (Programmable
Logic Device, PLD) or combinations thereof.Above-mentioned PLD can be Complex Programmable Logic Devices (Complex
Programmable Logic Device, CPLD), field programmable gate array (Field-Programmable Gate
Array, FPGA), Universal Array Logic (Generic Array Logic, GAL) or its arbitrary combination.
The memory 803 may include volatile memory (volatile memory), such as random access memory
(random-access memory, RAM);Memory 803 can also include nonvolatile memory (non-volatile
), such as flash memory (flash memory), hard disk (hard disk drive, HDD) or solid state disk memory
(solid-state drive, SSD);Memory 803 can also include the combination of the memory of mentioned kind.
The user interface 804 may include that touch screen, button etc. can receive the operation of user and/or to user feedback phase
Answer the component of data, information.For example, the user interface may include display, the information for exporting the object detected
Etc..
Optionally, memory 803 can be used for storing program instruction, which can call deposits in the memory 803
The program instruction of storage can execute one or more of embodiment illustrated in fig. 1 step or in which optional embodiment, make
Obtain the function in the scanning controller realization above method.
Specifically, the laser radar 802, is scanned for emitting laser beam;
Processor 801, for determining that scanning strategy, the scanning strategy instruction have laser radar 802 to be scanned at least
The field angle of one scan position and scanning weight to each scan position, the laser radar is less than 180 degree;Control
Laser radar 802 is scanned the scan position with the scanning weight of each scan position.
In some feasible embodiments, the scanning controller may also include direction control device 805;It is described to sweep
It is mobile device to retouch control device, and the laser radar 802 is loaded by direction control device 805 in the mobile device;
The processor 801 is executing the control laser radar with the scanning weight of each scan position to the scanning
When orientation is scanned, it is specifically used for:
The sweep time of the scan position is determined according to the scanning weight of each scan position;
The laser radar is controlled by the direction control device 805 to carry out the scan position with the sweep time
Scanning.
In some feasible embodiments, the scanning controller may also include direction control device 805;It is described to sweep
It is mobile device to retouch control device, and the laser radar 802 is loaded by direction control device 805 in the mobile device;
The processor 802 is executing the control laser radar with the scanning weight of each scan position to the scanning
When orientation is scanned, it is specifically used for:
The laser radar 802 for scanning the scan position is determined according to the scanning weight of each scan position
Quantity, wherein each laser radar 802 is loaded into a direction control device 805;
The laser radar 802 of the quantity is called to be scanned the scan position by the direction control device 805.
In some feasible embodiments, the direction control device 805 can be holder.
In some feasible embodiments, the corresponding scanning area of scan position of each laser radar of the quantity is not
It overlaps or partially overlaps.
In some feasible embodiments, the laser radar is loaded into mobile device, and the processor 801 is being held
When the row determining scanning strategy, it is specifically used for:
Determine that the bearing range to be scanned of laser radar 802, the bearing range to be scanned include at least one scanning side
Position;
The mobile status information of mobile device is obtained, the mobile status information includes the moving direction of the mobile device
Or direction change information;
The scanning weight of each scan position is determined according to the mobile status information.
In some feasible embodiments, the mobile device can be vehicle or unmanned plane.
In some feasible embodiments, the processor 801 is specific to use when executing the determining scanning strategy
In:
Determine that the bearing range to be scanned of laser radar 802, the bearing range to be scanned include at least one scanning side
Position;
At least one scan position is scanned according to preset scanning density, to acquire described at least one
The object distributed intelligence of a scan position;
The scanning weight of each scan position is determined according to the object distributed intelligence, wherein the object point
The scanning weight of the more scan position of cloth is bigger.
In some feasible embodiments, the processor 801 is specific to use when executing the determining scanning strategy
In:
Using fixed laser radar, at least one scan position to be scanned is swept according to preset scanning density
It retouches, obtains scanning result, and/or, at least one scan position is detected using aided-detection device, is detected
As a result;
The object at least one scan position point is determined according to the scanning result and/or the testing result
Cloth information;
The scanning weight of each scan position is determined according to the object distributed intelligence, wherein the object point
The scanning weight of the more scan position of cloth is bigger;
Wherein, the aided-detection device may include one kind or more in camera, millimetre-wave radar and ultrasonic sensor
Kind.The aided-detection device can be configured at (not shown) in the scanning controller, alternatively, the aided-detection device can
With separate configurations, and it is connected with the scanning controller.
In some feasible embodiments, when the laser radar for scanning at least one scan position is multiple,
The scanning density of the multiple laser radar is identical.
In some feasible embodiments, the scanning strategy further includes the scan position constraint ginseng of the laser radar
Number, at least one scan position are in the bearing range of scan position constrained parameters instruction.
In the specific implementation, processor 801 described in the embodiment of the present invention, laser radar 802, memory 803, user
Interface 804, direction control device 805 can perform institute in the scan control method of the laser radar that Fig. 1 of the embodiment of the present invention is provided
The realization method of description, does not repeat herein.
Can include laser radar at least one scan position to be scanned and to every by determination in the embodiment of the present invention
The scanning strategy of the scanning weight of one scan position is scanned so as to control laser radar with each in the scanning strategy
The scanning weight in orientation is scanned the scan position so that the detection efficient for improving laser radar avoids scanning
The waste of laser beam.
It should be understood that for each embodiment of the method above-mentioned, for simple description, therefore it is all expressed as a series of dynamic
It combines, but those skilled in the art should understand that, the present invention is not limited by the described action sequence, because of foundation
The present invention, certain some step can be performed in other orders or simultaneously.Next, those skilled in the art should also know that,
Embodiment described in this description belongs to alternative embodiment, and not necessarily the present invention must for involved action and module
Must.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include:Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access
Memory, RAM), disk or CD etc..
It is above disclosed to be only a preferred embodiment of the present invention, the power of the present invention cannot be limited with this certainly
Sharp range, those skilled in the art can understand all or part of the processes for realizing the above embodiment, and is weighed according to the present invention
Equivalent variations made by profit requirement, still belong to the scope covered by the invention.
Claims (33)
1. a kind of scan control method of laser radar, which is characterized in that including:
Determine that scanning strategy, the scanning strategy indicate at least one scan position for having laser radar to be scanned and to each
The field angle of the scanning weight of a scan position, the laser radar is less than 180 degree;
The laser radar is controlled to be scanned the scan position with the scanning weight of each scan position.
2. according to the method described in claim 1, it is characterized in that, the laser radar is loaded into shifting by direction control device
In dynamic equipment;The control laser radar sweeps the scan position with the scanning weight of each scan position
It retouches, including:
The sweep time of the scan position is determined according to the scanning weight of each scan position;
The laser radar is controlled by the direction control device to be scanned the scan position with the sweep time.
3. according to the method described in claim 1, it is characterized in that, the laser radar is loaded in shifting by direction control device
In dynamic equipment;The control laser radar sweeps the scan position with the scanning weight of each scan position
It retouches, including:
The quantity of the laser radar for scanning the scan position is determined according to the scanning weight of each scan position,
In, each laser radar is loaded into a direction control device;
The laser radar of the quantity is called to be scanned the scan position by the direction control device.
4. according to the method in claim 2 or 3, which is characterized in that
The direction control device is holder.
5. according to the method described in claim 3, it is characterized in that,
The corresponding scanning area of scan position of each laser radar of the quantity is misaligned or partially overlaps.
6. according to claim 1-5 any one of them methods, which is characterized in that the laser radar is loaded into mobile device
On, the determining scanning strategy, including:
Determine that the bearing range to be scanned of laser radar, the bearing range to be scanned include at least one scan position;
The mobile status information of mobile device is obtained, the mobile status information includes moving direction or the side of the mobile device
To change information;
The scanning weight of each scan position is determined according to the mobile status information.
7. the method according to claim 2 or 6, which is characterized in that
The mobile device is vehicle or unmanned plane.
8. according to claim 1-5 any one of them methods, which is characterized in that the determining scanning strategy, including:
Determine that the bearing range to be scanned of laser radar, the bearing range to be scanned include at least one scan position;
At least one scan position is scanned according to preset scanning density, to acquire described at least one sweep
Retouch the object distributed intelligence in orientation;
The scanning weight of each scan position is determined according to the object distributed intelligence, wherein the object distribution is got over
The scanning weight of more scan positions is bigger.
9. according to the method described in claim 1-5, which is characterized in that the determining scanning strategy, including:
Using fixed laser radar, at least one scan position to be scanned is scanned according to preset scanning density,
Scanning result is obtained, and/or, at least one scan position is detected using aided-detection device, obtains detection knot
Fruit;
The distribution letter of the object at least one scan position is determined according to the scanning result and/or the testing result
Breath;
The scanning weight of each scan position is determined according to the object distributed intelligence, wherein the object distribution is got over
The scanning weight of more scan positions is bigger;
Wherein, the aided-detection device includes one or more in camera, millimetre-wave radar and ultrasonic sensor.
10. method according to claim 8 or claim 9, which is characterized in that
When the laser radar for scanning at least one scan position is multiple, the scanning density phase of the multiple laser radar
Together.
11. according to claim 1-10 any one of them methods, which is characterized in that the scanning strategy further includes the laser
The scan position constrained parameters of radar, at least one scan position are in the orientation of scan position constrained parameters instruction
In range.
12. a kind of scan controller, which is characterized in that including:
Determining module, for determining that scanning strategy, the scanning strategy indicate at least one scanning for having laser radar to be scanned
The field angle of orientation and scanning weight to each scan position, the laser radar is less than 180 degree;
Control module, for control the laser radar with the scanning weight of each scan position to the scan position into
Row scanning.
13. device according to claim 12, which is characterized in that the laser radar is loaded by direction control device
In mobile device;The control module is specifically used for:
The sweep time of the scan position is determined according to the scanning weight of each scan position;
The laser radar is controlled by the direction control device to be scanned the scan position with the sweep time.
14. device according to claim 12, which is characterized in that the laser radar is loaded in by direction control device
In mobile device;The control module is specifically used for:
The quantity of the laser radar for scanning the scan position is determined according to the scanning weight of each scan position,
In, each laser radar is loaded into a direction control device;
The laser radar of the quantity is called to be scanned the scan position by the direction control device.
15. the device according to claim 13 or 14, which is characterized in that
The direction control device is holder.
16. device according to claim 14, which is characterized in that
The corresponding scanning area of scan position of each laser radar of the quantity is misaligned or partially overlaps.
17. according to claim 12-16 any one of them devices, which is characterized in that the laser radar is loaded into movement and sets
Standby upper, the determining module is specifically used for:
Determine that the bearing range to be scanned of laser radar, the bearing range to be scanned include at least one scan position;
The mobile status information of mobile device is obtained, the mobile status information includes moving direction or the side of the mobile device
To change information;
The scanning weight of each scan position is determined according to the mobile status information.
18. the device according to claim 13 or 17, which is characterized in that
The mobile device is vehicle or unmanned plane.
19. according to claim 12-16 any one of them devices, which is characterized in that the determining module is specifically used for:
Determine that the bearing range to be scanned of laser radar, the bearing range to be scanned include at least one scan position;
At least one scan position is scanned according to preset scanning density, to acquire described at least one sweep
Retouch the object distributed intelligence in orientation;
The scanning weight of each scan position is determined according to the object distributed intelligence, wherein the object distribution is got over
The scanning weight of more scan positions is bigger.
20. according to the device described in claim 12-16, which is characterized in that the determining module is specifically used for:
Using fixed laser radar, at least one scan position to be scanned is scanned according to preset scanning density,
Scanning result is obtained, and/or, at least one scan position is detected using aided-detection device, obtains detection knot
Fruit;
The distribution letter of the object at least one scan position is determined according to the scanning result and/or the testing result
Breath;
The scanning weight of each scan position is determined according to the object distributed intelligence, wherein the object distribution is got over
The scanning weight of more scan positions is bigger;
Wherein, the aided-detection device includes one or more in camera, millimetre-wave radar and ultrasonic sensor.
21. the device according to claim 19 or 20, which is characterized in that
When the laser radar for scanning at least one scan position is multiple, the scanning density phase of the multiple laser radar
Together.
22. according to claim 12-21 any one of them devices, which is characterized in that the scanning strategy further includes described sharp
The scan position constrained parameters of optical radar, at least one scan position are in the side of scan position constrained parameters instruction
In the range of position.
23. a kind of scanning controller, which is characterized in that including:Processor and laser radar;Wherein,
The laser radar is scanned for emitting laser beam;
The processor, for determining scanning strategy, the scanning strategy instruction has to be scanned at least one of laser radar to sweep
Orientation and the scanning weight to each scan position are retouched, the field angle of the laser radar is less than 180 degree;It controls described sharp
Optical radar is scanned the scan position with the scanning weight of each scan position.
24. equipment according to claim 23, which is characterized in that the scanning controller further includes orientation control dress
It sets;The scanning controller is mobile device, and the laser radar is loaded into the movement by the direction control device
In equipment;
The processor sweeps this with the scanning weight of each scan position in the execution control laser radar
When retouching orientation and being scanned, it is specifically used for:
The sweep time of the scan position is determined according to the scanning weight of each scan position;
The laser radar is controlled by the direction control device to be scanned the scan position with the sweep time.
25. equipment according to claim 23, which is characterized in that the scanning controller further includes orientation control dress
It sets;The scanning controller is mobile device, and the laser radar is loaded into the movement by the direction control device
In equipment;
The processor sweeps this with the scanning weight of each scan position in the execution control laser radar
When retouching orientation and being scanned, it is specifically used for:
The quantity of the laser radar for scanning the scan position is determined according to the scanning weight of each scan position,
In, each laser radar is loaded into a direction control device;
The laser radar of the quantity is called to be scanned the scan position by the direction control device.
26. the equipment according to claim 24 or 25, which is characterized in that
The direction control device is holder.
27. equipment according to claim 25, which is characterized in that
The corresponding scanning area of scan position of each laser radar of the quantity is misaligned or partially overlaps.
28. according to claim 23-27 any one of them equipment, which is characterized in that the laser radar is loaded into movement and sets
Standby upper, the processor is specifically used for when executing the determining scanning strategy:
Determine that the bearing range to be scanned of laser radar, the bearing range to be scanned include at least one scan position;
The mobile status information of mobile device is obtained, the mobile status information includes moving direction or the side of the mobile device
To change information;
The scanning weight of each scan position is determined according to the mobile status information.
29. the equipment according to claim 24 or 28, which is characterized in that
The mobile device is vehicle or unmanned plane.
30. according to claim 23-27 any one of them equipment, which is characterized in that the processor is executing the determination
When scanning strategy, it is specifically used for:
Determine that the bearing range to be scanned of laser radar, the bearing range to be scanned include at least one scan position;
At least one scan position is scanned according to preset scanning density, to acquire described at least one sweep
Retouch the object distributed intelligence in orientation;
The scanning weight of each scan position is determined according to the object distributed intelligence, wherein the object distribution is got over
The scanning weight of more scan positions is bigger.
31. according to the equipment described in claim 23-27, which is characterized in that the processor is executing the determining scanning plan
When slightly, it is specifically used for:
Using fixed laser radar, at least one scan position to be scanned is scanned according to preset scanning density,
Scanning result is obtained, and/or, at least one scan position is detected using aided-detection device, obtains detection knot
Fruit;
The distribution letter of the object at least one scan position is determined according to the scanning result and/or the testing result
Breath;
The scanning weight of each scan position is determined according to the object distributed intelligence, wherein the object distribution is got over
The scanning weight of more scan positions is bigger;
Wherein, the aided-detection device includes one or more in camera, millimetre-wave radar and ultrasonic sensor.
32. the equipment according to claim 30 or 31, which is characterized in that
When the laser radar for scanning at least one scan position is multiple, the scanning density phase of the multiple laser radar
Together.
33. according to claim 23-32 any one of them equipment, which is characterized in that the scanning strategy further includes described sharp
The scan position constrained parameters of optical radar, at least one scan position are in the side of scan position constrained parameters instruction
In the range of position.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/086678 WO2018218538A1 (en) | 2017-05-31 | 2017-05-31 | Laser radar scanning control method, apparatus and device |
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| Publication Number | Publication Date |
|---|---|
| CN108700653A true CN108700653A (en) | 2018-10-23 |
Family
ID=63843749
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780004603.0A Pending CN108700653A (en) | 2017-05-31 | 2017-05-31 | A kind of scan control method of laser radar, device and equipment |
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| WO (1) | WO2018218538A1 (en) |
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| CN110296698A (en) * | 2019-07-12 | 2019-10-01 | 贵州电网有限责任公司 | It is a kind of with laser scanning be constraint unmanned plane paths planning method |
| CN110799853A (en) * | 2018-10-26 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Environment sensing system and mobile platform |
| CN111289979A (en) * | 2020-02-20 | 2020-06-16 | 北京小马慧行科技有限公司 | Control method and device for vehicle-mounted radar and carrier |
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| CN111830517A (en) * | 2019-04-17 | 2020-10-27 | 北京地平线机器人技术研发有限公司 | Method and device for adjusting scanning range of laser radar and electronic equipment |
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| CN111367300A (en) * | 2020-05-27 | 2020-07-03 | 弗徕威智能机器人科技（上海）有限公司 | Obstacle detection method for multi-path ultrasonic waves, mobile robot, and storage medium |
| WO2022057267A1 (en) * | 2020-09-16 | 2022-03-24 | 上海商汤临港智能科技有限公司 | Method and apparatus for configuring radars, and electronic device and storage medium |
| CN112180398A (en) * | 2020-09-29 | 2021-01-05 | 广州大学 | Multi-line laser radar and control method thereof |
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| WO2018218538A1 (en) | 2018-12-06 |
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Application publication date: 20181023 |